Khumalo, 26, joined Spurs from Supersport United in 2010 but the South Africa captain has been unable to force his way into the first-team and also spent time on loan with Preston and Reading.

“I'm very pleased to be here,” he told Doncaster's official website. “I'm very happy that things have worked out, and I'm just looking forward to the start of the season

“All the lads have been really welcoming, which really helps. I've had a lot of support from the skipper, and everyone has made it really easy to make the transition.

“Dean [Furman] and I have met before, having played in the national team, so it was great to come here and see a familiar face.”

Doncaster have also announced the signings of midfielder Harry Forrester and goalkeeper Ross Turnbull.

Former Aston Villa and Brentford player Forrester, 22, has agreed a three-year deal.

He told the club's official website: “There’s a good core to the team here, we will have to add a couple of new faces which I’m sure the backroom staff are looking at now. The team and players that we have got here at the moment are good enough but with further additions we can give it a real go – it’s not going to be easy but we have got to enjoy it.”

Turnbull, meanwhile, has agreed a one-year contract and joins on a free transfer following the expiry of his Chelsea deal.